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Employee Stock Plans - Schedule of Performance Share Units Award Activity (Details) - Performance share units
shares in Thousands
9 Months Ended
Sep. 30, 2022
$ / shares
shares
Performance Share Units Award Activity  
Outstanding at beginning of period (in shares) | shares 473
Granted (in shares) | shares 103
Vested (in shares) | shares (211)
Canceled (in shares) | shares (5)
Adjustments for performance results (in shares) | shares 82
Outstanding at end of period (in shares) | shares 442
Performance Share Units Award Weighted Average Grant Date Fair Value  
Outstanding at beginning of period (in dollars per share) | $ / shares $ 23.64
Granted (in dollars per share) | $ / shares 38.15
Vested (in dollars per share) | $ / shares 19.82
Adjustments for performance results (in dollars per share) | $ / shares 25.75
Canceled (in dollars per share) | $ / shares 33.21
Outstanding at end of period (in dollars per share) | $ / shares $ 29.12